WO2009116241A1 - 回転角度検出装置 - Google Patents
回転角度検出装置 Download PDFInfo
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- WO2009116241A1 WO2009116241A1 PCT/JP2009/001025 JP2009001025W WO2009116241A1 WO 2009116241 A1 WO2009116241 A1 WO 2009116241A1 JP 2009001025 W JP2009001025 W JP 2009001025W WO 2009116241 A1 WO2009116241 A1 WO 2009116241A1
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- rotation angle
- rotation
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- detection device
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D18/00—Testing or calibrating apparatus or arrangements provided for in groups G01D1/00 - G01D15/00
- G01D18/001—Calibrating encoders
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
- G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
- G01D5/14—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage
- G01D5/142—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage using Hall-effect devices
- G01D5/145—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage using Hall-effect devices influenced by the relative movement between the Hall device and magnetic fields
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B7/00—Measuring arrangements characterised by the use of electric or magnetic techniques
- G01B7/30—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring angles or tapers; for testing the alignment of axes
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
- G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
- G01D5/244—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing characteristics of pulses or pulse trains; generating pulses or pulse trains
- G01D5/245—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing characteristics of pulses or pulse trains; generating pulses or pulse trains using a variable number of pulses in a train
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D2205/00—Indexing scheme relating to details of means for transferring or converting the output of a sensing member
- G01D2205/20—Detecting rotary movement
- G01D2205/26—Details of encoders or position sensors specially adapted to detect rotation beyond a full turn of 360°, e.g. multi-rotation
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D2205/00—Indexing scheme relating to details of means for transferring or converting the output of a sensing member
- G01D2205/80—Manufacturing details of magnetic targets for magnetic encoders
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D2205/00—Indexing scheme relating to details of means for transferring or converting the output of a sensing member
- G01D2205/85—Determining the direction of movement of an encoder, e.g. of an incremental encoder
Definitions
- the present invention is particularly used for a brushless DC motor used as a drive source for a movable valve or the like of a throttle valve, an EGR (exhaust gas recirculation system) valve, or a VG (Variable Geometry) turbo system used in an on-vehicle device.
- the present invention relates to a preferred rotation angle detection device.
- the rotation angle detection device uses, for example, two magnetic sensors, and inputs a sensor output signal output from each of the magnetic sensors in accordance with the rotation angle of a rotating body such as a brushless DC motor to the signal processing unit. By performing the processing, the rotation angle of the rotating body is detected. At this time, the signal processing unit outputs the rotation angle when one of the sensor output signals of the sine wave and the cosine wave output corresponding to the rotation angle of the rotating body crosses zero, and the other The rotation angle within one rotation (360 degrees) is calculated from the sign of the sensor output signal (see, for example, Patent Document 1).
- the rotation angle within one rotation can be detected with high accuracy, but there are a plurality of conditions that result in the same signal state when the rotating body makes one rotation or more.
- the detection becomes extremely difficult.
- a brushless DC motor used as a drive source for a throttle valve an EGR (exhaust gas recirculation system) valve, an VG (Variable Geometry) turbo movable vane, etc. Since the entire area is controlled with multiple rotations (for example, two rotations) for each state, there is a problem in accuracy and it is difficult to adopt.
- the present invention has been made to solve the above-described problems, and provides a rotation angle detection device that can easily and accurately detect a multi-rotation rotation angle using a rotation angle sensor that can detect one rotation. With the goal.
- the rotation angle detection device of the present invention includes a change direction of a sign of one sensor output signal and a sign of the other sensor output signal among two sinusoidal sensor output signals having different phases. Is detected, and multi-rotation angle information is generated from the information related to the detected rotation angle change of one rotation or more and the rotation angle information of one rotation calculated from the sensor output signal. Arithmetic processing means is provided.
- the rotation angle detection device of the present invention is a two-phase signal having a different phase having an arbitrary number of divisions per one rotation from rotation angle information for one rotation calculated from two sine wave sensor output signals having different phases.
- an arithmetic processing means for generating multi-rotation angle information by increasing / decreasing the number of signal changes in accordance with the change direction and the signal magnitude of the two-phase signals.
- the rotation angle detection device of the present invention it is possible to detect a multi-rotation rotation angle easily and accurately using a rotation angle sensor capable of detecting one rotation.
- FIG. 1 is a diagram for explaining a sensor and its detection system used by a rotation angle detection apparatus according to Embodiment 1 of the present invention.
- Vx and Vy which are the outputs of the hall sensors 2 and 3 can be expressed in vectors as shown in FIG.
- the actual output waveform is, for example, two sine wave sensor output signals having different phases as shown in FIG.
- the period of the two sensor output signals is 1 / n period per rotation (n is an arbitrary integer).
- the sensor to be used is not limited to the hall sensors 2 and 3 and may be replaced with a rotation angle detection sensor such as another magnetic sensor.
- FIG. 3 is a table showing the principle of multi-rotation detection for detecting a rotation angle when the rotation angle detection device according to Embodiment 1 of the present invention exceeds one rotation (360 degrees) as ⁇ Table 1>. .
- the rotation angle detection device enables detection of a rotation angle of multiple rotations from two sensor output signals that are 90 degrees out of phase.
- the detection principle is that when there are two sinusoidal sensor output signals Vx and Vy whose phases are shifted as shown in FIG. 2B, the combination 360 shown in Table 1 in FIG. If the combination at the time of crossing the degree is used, it is determined whether or not one or more rotations have been made from the change direction of the sign of the signal when one sensor output signal crosses zero and the sign of the other sensor output signal Is possible.
- the sign change direction when Vx at the time of forward rotation crosses zero in the 0th rotation (0 degree), 1st rotation (360 degrees), and 2nd rotation (720 degrees) changes from-to +
- the sign of Vy at that time is +.
- the sign change direction when the Vx at the time of reverse rotation of the 0th rotation (0 degree), the 1st rotation (360 degrees), and the 2nd rotation (720 degrees) crosses zero changes from + to-direction,
- the sign of Vy at that time is-. Therefore, it is possible to determine whether or not one or more rotations have been made by combining these.
- FIG. 4 is a block diagram showing an example of an internal circuit configuration of the rotation angle detection device according to Embodiment 1 of the present invention.
- the rotation angle detection apparatus includes AD (Analog Digital) converters 11 and 12, correction calculators 13 and 14, comparators 15 and 16, and edges. It has a detector 17, a pulse counter 18, a single rotation angle calculator 19, a multi-rotation processing circuit 20, and a DA (Digital Analog) converter 21.
- AD Analog Digital
- Each of the above-described constituent blocks 11 to 21 operates in cooperation to change the sign change direction of one sensor output signal and the sign of the other sensor output signal among the sensor output signals (Hall sensors 2 and 3).
- FIG. 5 and 6 are timing charts showing the operation of the rotation angle detection device according to the first embodiment of the present invention, each showing a forward rotation time (FIG. 5) and a reverse rotation time (FIG. 6).
- FIG. 5 and 6 the waveform with the same name as FIG. 4 is the same as that shown in FIG. 4, and (a) rotation angle ⁇ , (b) X component signal, (c) Y component signal, ( d) X component code signal, (e) Y component code signal, (f) + pulse, (g) -pulse, and (h) pulse counter 18 output.
- FIGS the operation of the rotation angle detection apparatus according to the first embodiment of the present invention shown in FIG. 4 will be described in detail with reference to the timing charts of FIGS.
- analog signals Vx and Vy which are two sinusoidal sensor signals output from the hall sensors 2 and 3, are converted into digital signals by AD (Analog Digital) converters 11 and 12, respectively, and correction calculators 13 and 14 are converted into digital signals. Are output respectively.
- the correction calculators 13 and 14 perform corrections related to the amplitude and offset at the correction points, supply them to the one rotation angle calculator 19, and the one rotation angle calculator 19 calculates the rotation angle within one rotation. Since the output of ⁇ (n-bit one-rotation position signal: digital value) is the same as in the prior art, a detailed description thereof is omitted.
- the outputs of the correction calculators 13 and 14 are supplied to one input terminal of the comparators 15 and 16 in addition to the one-rotation angle calculator 19.
- a preset 0 reference value is supplied to the other input terminals of the comparators 15 and 16, and here, a magnitude comparison with respect to the 0 reference value is performed.
- the comparators 15 and 16 output “High” and “Low” codes (signals) to the edge detector 17.
- the edge detector 17 receives the signals from the comparators 15 and 16 and outputs + pulses at 0 degrees, 360 degrees, and 720 degrees normal rotation conditions shown in the table of FIG.
- the negative pulse is output under the condition of the reverse rotation of the positive pulse, and the positive pulse or negative pulse detected here is output to the pulse counter 18.
- edge detector 17 described in detail in, for example, the position detection method using the incremental encoder in FIG. 6.5 of the general publisher “Theory and design of AC servo system”.
- the pulse counter 18 is composed of 2 bits, and is updated by +1 when a + pulse is output from the edge detector 17 and updated by -1 when a -pulse is output.
- the value counted here is output to the multi-rotation processing circuit 20 as a rotation number identification signal.
- the multi-rotation processing circuit 20 performs, for example, the processing shown as ⁇ Table 2> in FIG. 7 according to the 2-bit rotation number identification signal output from the pulse counter 18, and performs multi-rotation corresponding to 0 to 720 degrees.
- the position signal (n + 1) -bit data is output to the DA converter 21, converted from a digital signal to an analog signal by the DA converter 21, and output to a valve control system (not shown).
- Table 2 shown in FIG. 7 shows a 2-bit rotation number identification signal output by the pulse counter 18 and a rotation angle ⁇ calculation process (process of one rotation angle signal ⁇ 360 degrees) by the multi-rotation processing circuit 20.
- FIG. when the rotation number identification signal output from the pulse counter 18 is “0”, the multi-rotation processing circuit 20 outputs the rotation angle ⁇ output from the one rotation angle calculator 19 to the DA converter 21 as it is, When the rotation number identification signal output from the pulse counter 18 is “1”, the multi-rotation processing circuit 20 adds 360 degrees to the rotation angle ⁇ output from the one-rotation angle calculator 19 and outputs it to the DA converter 21.
- the multi-rotation processing circuit 20 adds 720 degrees to the rotation angle ⁇ output from the one-rotation angle calculator 19 and adds the DA converter 21. Output to.
- the multi-rotation processing circuit 20 is 1
- the rotation angle ⁇ output from the rotation angle calculator 19 is not updated. If an attempt is made to monitor the entire valve opening / closing position with 6 rotations, 3 bits are required as the rotation number identification signal. Incidentally, the setting of the number of bits is arbitrary.
- the arithmetic processing means includes the change direction of the sign of one sensor output signal and the other sensor among the sensor output signals.
- Multi-rotation angle information is detected from information about a change in the rotation angle of one or more rotations detected from the sign of the output signal, and rotation angle information for one rotation calculated from the sensor output signal.
- the rotation angle of multiple rotations can be calculated only by simple hardware such as a calculator without using a large-scale circuit such as a CPU (Central Processing Unit). Therefore, it is possible to provide a rotation angle detection device that can detect a rotation angle of multiple rotations in a small and inexpensive manner using a rotation angle sensor that can detect one rotation.
- the pulse counter 18 in FIG. 4 will be described below particularly when the rotation range is less than 2 rotations.
- the pulse counter 18 operates in the arrangement of FIG. 2B.
- the pulse counter can be configured with 1 bit only as binary information of 360 degrees or less and 360 degrees or more in Table 2.
- the initial position of the full stroke is shifted by a small amount starting from the position exceeding ⁇ 1 in FIG. 2B, and the position reduced by ⁇ 2 with respect to 720 degrees as the ending point.
- ⁇ 1 and ⁇ 2 are values greater than or equal to the detection error range of the rotation detector, and are usually several degrees or more for a simple sensor.
- FIG. FIG. 8 is a block diagram showing an internal circuit configuration of the rotation angle detection device according to Embodiment 2 of the present invention.
- the rotation angle detection device according to the second embodiment of the present invention includes AD (Analog Digital) converters 31 and 32, correction calculators 33 and 34, one rotation angle calculator 35, It has an AB phase signal generator 36, an encoder counter 37, and a DA converter 38.
- AD Analog Digital
- Each of the above-described constituent blocks 31 to 38 operates in cooperation to calculate an arbitrary number of divisions per one rotation from rotation angle information for one rotation calculated from two sinusoidal sensor output signals having different phases.
- 9 and 10 are timing charts showing the operation of the rotation angle detecting device according to the second embodiment of the present invention, and each shows a forward rotation and a reverse rotation.
- 9 and 10 the waveform with the same name as FIG. 8 is the same as that shown in FIG. 8, and (a) rotation angle ⁇ , (b) X component signal, (c) Y component signal, (D) One rotation angle calculator output ⁇ , (e) A phase, (f) B phase.
- analog signals Vx and Vy which are two sinusoidal sensor signals output from the Hall sensors 2 and 3, are converted into digital signals by AD (Analog Digital) converters 31 and 32, respectively, and correction calculators 33 and 34, respectively. Are output respectively.
- the correction calculators 33 and 34 correct the amplitude and offset at the correction points, supply them to the one rotation angle calculator 35, and the one rotation angle calculator 35 calculates the rotation angle within one rotation. Since the output of ⁇ (n-bit digital value) is the same as in the prior art, a specific description is omitted.
- the AB phase signal generator 36 generates an AB2 phase digital signal having a phase corresponding to one rotation of the rotation angle ⁇ described above or 1 / n (n is an arbitrary integer). It is to output.
- the AB phase signal generator 36 is constituted by, for example, a rotary encoder that outputs pulses having different phases depending on the rotation direction.
- the rotary encoder generates a different number of pulses according to the resolution every time the motor shaft rotates by a certain amount, and can acquire information on how many times the shaft has moved and how many times the shaft has rotated by counting pulses.
- a two-phase pulse is output. For example, when the shaft is rotating clockwise, the A-phase pulse is output first, and the B-phase pulse is output in the middle. Conversely, when rotating counterclockwise, a B-phase pulse is output first, and an A-phase pulse is output midway. That is, it is possible to obtain information about how much the axis is currently rotated in which direction using these relationships.
- the AB phase signal generator 36 generates two-phase signals having different phases having an arbitrary number of divisions per rotation from rotation angle information for one rotation calculated from the output signals of two sinusoidal sensors having different phases. To do.
- the AB phase signal generator 36 is constituted by a ROM (Read Only Memory) or a simple hard wired logic as shown in FIG.
- the AB phase signal generator 36 is an arbitrary 2 bits (here, Dm bit and Dm) of rotation angle information for one rotation output from the one rotation angle calculator 35.
- a binary digital signal is generated from the (+1 bit) signal and output to the encoding counter 37.
- the XOR gate 39 performs an exclusive OR operation of Dm bits and Dm + 1 bits to output an A phase signal, and outputs the Dm + 1 bits to the encoder counter 37 as a B phase signal. ing.
- the two-phase pulses generated and output by the AB phase signal generator 36 are counted by the encoder counter 37.
- the encoder counter 37 generates multi-rotation angle information by increasing or decreasing the number of signal changes in accordance with the change direction and signal magnitude of the two-phase signal generated and output by the AB phase signal generator 36. Specific examples thereof will be described below.
- FIGS. 12 and 13 show the relationship between the change in the AB phase signal and the increase / decrease in the count value by the encoder counter 37 for each of the forward rotation and the reverse rotation. 12 and 13, (a) shows the A-phase and B-phase pulse waveforms, and (b) shows the count conditions at that time.
- the encoder counter 37 is updated (counted up) at the timing when the pulse of each phase AB during forward rotation shown in FIG. 12 (a) changes, as shown in FIG. 12 (b),
- the A phase is changed from “Low” to “High”
- the B phase is at the “Low” level.
- the A phase is changed from the “High” level to the B phase.
- the level changes from “Low” to “High” level.
- the A phase changes from “High” to “Low”
- the B phase changes to the “High” level.
- the A phase changes from the “Low” level to the B level.
- the phase has changed from “High” to “Low” level.
- the encoder counter 37 is updated (counted down) based on the timing at which the pulses of the AB phases indicated by ⁇ to ⁇ change even during reverse rotation.
- the encoder counter 37 counts the signal output from the AB phase signal generator 36 to generate (n + 2) -bit data corresponding to 0 to 720 degrees. As in the first embodiment, the encoder counter 37 outputs this data to the DA converter 38, converts it into an analog signal, and supplies it to a valve control system (not shown).
- the arithmetic control means generates an AB two-phase signal having a different phase from the rotation angle ⁇ , and counts it with the encoder counter 37, thereby enabling multi-rotation angle detection processing of 360 degrees or more.
- the origin position can be arbitrarily set by resetting the encoder counter 37 with an external signal by a switch operation or the like. For this reason, it is unnecessary to store the origin position by a program by software or the like, which can contribute to simplification of software processing.
- the arithmetic processing means selects any one of the rotation angle information for one rotation calculated from the output signals of the two sinusoidal sensors having different phases. Generate two-phase signals with different phases having the number of divisions per rotation, and increase / decrease the number of signal changes according to the change direction and signal magnitude of the two-phase signals to obtain multi-rotation angle information.
- a rotation angle of multiple rotations can be calculated only by simple hardware such as a calculator without using a large-scale circuit such as a CPU. Therefore, it is possible to provide a rotation angle detection device that can detect a rotation angle of multiple rotations in a small and inexpensive manner using a rotation angle sensor that can detect one rotation.
- the arithmetic processing means converts the two-phase signal having different phases having the number of divisions per one rotation generated from the angle information for one rotation into a binary digital signal, so that one rotation further By generating a binary digital signal from an arbitrary continuous 2-bit signal of the rotation angle information, all processing after acquisition of the one rotation angle signal ⁇ can be performed with digital data. As a result, it is possible to provide a rotation angle detection device that is robust against noise and has few false detections with respect to signal noise.
- the rotation angle detection device uses a rotation angle sensor that can detect one rotation, and provides a rotation detection device that can easily detect a multi-rotation rotation angle with high accuracy.
- a change in the rotation angle of one rotation or more is detected from the change direction of the sign of one sensor output signal and the sign of the other sensor output signal.
- a two-phase signal having a different phase having an arbitrary number of divisions per rotation is generated from the rotation angle information of the minute, and the change direction and the signal magnitude of the two-phase signal are generated. Since the processing means for generating the multi-rotation angle information by increasing / decreasing the number of times of the change of the signal at the same time is provided, the rotation angle detection device and the signal noise capable of detecting the multi-rotation angle in a small size and at low cost In contrast, the present invention is suitable for use in a rotation angle detection device with few false detections.
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Abstract
Description
このとき、信号処理部は、回転体の回転角度に対応して出力される正弦波、余弦波状の2つのセンサ出力信号のうちの一方のセンサ出力信号が0クロスするときの回転角と、他方のセンサ出力信号の符号とから1回転(360度)内における回転角度を算出している(例えば、特許文献1参照)。
このため、例えば、車載用機器に使用されるスロットルバルブ、EGR(排気ガス再循環システム)バルブ、VG(Variable Geometry)ターボの可動ベーン等の駆動源として使用されるブラシレスDCモータは、バルブの開閉状態につき、多回転(例えば、2回転)で全域制御するため、精度上の問題があり、採用が困難である。
実施の形態1.
図1は、この発明の実施の形態1に係る回転角度検出装置が使用するセンサおよびその検出系を説明するために示した図である。
ホールセンサ2、3の出力であるVx、Vyは、図2(a)に示されるように、ベクトル表現が可能である。実際の出力波形は、例えば、図2(b)に示されるように、位相が異なる2つの正弦波状のセンサ出力信号となる。ここで、2つのセンサ出力信号の周期は、1回転あたり1/n周期(nは任意の整数)とする。
具体的にその検出原理は、図2(b)に示すような位相がずれた2つの正弦波状のセンサ出力信号Vx、Vyがある場合に、図3に<表1>として示した組み合わせの360度をクロスする時点での組み合わせを用いれば、一方のセンサ出力信号が零クロスしたときの信号の符号の変化方向と、他方のセンサ出力信号の符号とから1回転以上回転したか否かの判別が可能である。
図4に示されるように、この発明の実施の形態1に係る回転角度検出装置は、AD(Analog Digital)コンバータ11、12と、補正演算器13、14と、比較器15、16と、エッジ検出器17と、パルスカウンタ18と、1回転角度計算器19と、多回転処理回路20と、DA(Digital Analog)コンバータ21とを有する。
以下、図5、図6のタイミング図を参照しながら図4に示すこの発明の実施の形態1に係る回転角度検出装置の動作について詳細に説明する。
多回転処理回路20は、パルスカウンタ18から出力される2ビットの回転回数識別信号に応じて、例えば、図7に<表2>として示す処理を行い、0度から720度に対応した多回転位置信号(n+1)ビットのデータをDAコンバータ21に出力し、DAコンバータ21でディジタル信号からアナログ信号に変換して不図示のバルブ制御系へ出力する構成になっている。
ここでは、パルスカウンタ18から出力される回転回数識別信号が“0”の場合、多回転処理回路20は、1回転角度計算器19から出力される回転角度θをそのままDAコンバータ21へ出力し、パルスカウンタ18から出力される回転回数識別信号が“1”の場合、多回転処理回路20は、1回転角度計算器19から出力される回転角度θに360度を付加してDAコンバータ21へ出力し、パルスカウンタ18から出力される回転回数識別信号が“2”の場合、多回転処理回路20は、1回転角度計算器19から出力される回転角度θに720度を付加してDAコンバータ21へ出力することを示している。
図8は、この発明の実施の形態2に係る回転角度検出装置の内部回路構成を示すブロック図である。
図8に示されるように、この発明の実施の形態2に係る回転角度検出装置は、AD(Analog Digital)コンバータ31、32と、補正演算器33、34と、1回転角度計算器35と、AB相信号生成器36と、エンコーダ用カウンタ37と、DAコンバータ38とを有する。
以下、図9、図10のタイミング図を参照しながら図8に示すこの発明の実施の形態2に係る回転角度検出装置の動作について詳細に説明する。
ここでは、特徴的には、AB相信号生成器36が、上記した回転角度θの1回転分、あるいは1/n(nは任意の整数)に対応した位相が異なるAB2相のディジタル信号を生成出力することにある。
例えば、時計廻りで軸が回転している場合、先にA相のパルスが出力され、その途中でB相のパルスが出力される。逆に反時計廻りで回転している場合、先にB相のパルスが出力され、その途中でA相のパルスが出力される。つまり、これらの関係を用いて軸が現在いずれの方向にどれだけ回転しているかについての情報を取得することができる。
例えば、図11に示されるように、AB相信号生成器36は、1回転角度計算器35から出力される1回転分の回転角度情報の任意の連続する2ビット(ここでは、DmビットとDm+1ビット)の信号から2値のディジタル信号を生成してエンコード用カウンタ37へ出力している。ちなみに、ここでは、XORゲート39によりDmビットとDm+1ビットの排他的論理和演算を行ってA相の信号を出力し、Dm+1ビットをB相の信号としてエンコーダ用カウンタ37に出力している。
図12、図13に、AB相の信号の変化とエンコーダ用カウンタ37によるカウント値の増減についての関係が正転時と逆転時別にそれぞれ示されている。図12、図13において、いずれも(a)はA相B相のパルス波形を、(b)はそのときのカウント条件をそれぞれ示している。
Claims (7)
- 位相が異なる2つの正弦波状のセンサ出力信号からベクトルを用いて回転角度を求める回転角度検出装置であって、
前記センサ出力信号のうち、一方のセンサ出力信号の符号の変化方向と他方のセンサ出力信号の符号とから1回転以上の回転角度の変化を検出し、前記検出した1回転以上の回転角度の変化に関する情報と前記センサ出力信号から算出した1回転分の回転角度情報とから多回転角度情報を生成する演算処理手段、
を備えたことを特徴とする回転角度検出装置。 - 前記演算処理手段は、
前記センサ出力信号をディジタル値に変換し、振幅、オフセット補正後の信号を予め設定済みのゼロ基準値と比較してエッジ検出を行い、n回転(nは任意の整数)における正転もしくは逆転の条件に基づいて出力されるパルスをカウントして回転回数識別信号として用い、前記センサ出力信号から算出した1回転分の回転角度情報とを組み合わせて前記多回転角度情報を生成することを特徴とする請求項1記載の回転角度検出装置。 - 前記演算処理手段は、
稼動範囲の始点から終点までを回転角度フルストロークθとした場合に、センサ信号の絶対値出力配置が、始点は0度からδ1だけ超過した位置であり、終点が720度に対してδ2だけ減じた位置であり、δ1、δ2は回転検出誤差範囲以上の値とし、同時にθ<720度-(δ1+δ2)を満足する範囲にして多回転角度情報を生成することを特徴とする請求項1記載の回転角度検出装置。 - 位相が異なる2つの正弦波状のセンサ出力信号からベクトルを用いて回転角度を求める回転角度検出装置であって、
前記位相が異なる2つの正弦波状のセンサ出力信号から算出した1回転分の回転角度情報から任意の1回転あたりの分割数を有する位相が異なる2相の信号を生成するとともに、前記2相の信号の変化方向と信号の大きさとに応じて前記信号の変化の回数を増減させて多回転角度情報を生成する演算処理手段、
を備えたことを特徴とする回転角度検出装置。 - 前記演算処理手段は、
前記1回転分の角度情報から生成した任意の1回転あたりの分割数を有する位相が異なる2相の信号を2値のディジタル信号とすることを特徴とする請求項4記載の回転角度検出装置。 - 前記演算処理手段は、
前記1回転分の角度情報の任意の連続する2ビットの信号から2値のディジタル信号を生成することを特徴とする請求項4記載の回転角度検出装置。 - 前記演算処理手段は、
外部から供給されるリセット信号により任意の位置で原点位置を設定することを特徴とする請求項4記載の回転角度検出装置。
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CN2009801031822A CN101925800B (zh) | 2008-03-18 | 2009-03-06 | 旋转角度检测装置 |
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